How to make a basic 2 wheel drive Arduino Bluetooth controlled robot

Today we’ll take a look at how you can put together a basic Bluetooth controlled 2 wheel drive Arduino robot.

 

 

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Parts List:

ARDUINO Board

L298N

HC-06

logic level converter

geared robot wheels

Battery

3D printed robot body

 

Schematic:

 

ARDUINO Code:

 


#define pin1 2 // motor #1 +
#define pin2 3 // motor #1 –
#define pw1 9 // motor #1 pwm
#define pin3 4 // motor #2 +
#define pin4 5 // motor #2 –
#define pw2 6 // motor #2 pwm


void setup() {
Serial.begin(9600);
pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT);
pinMode(pin3, OUTPUT);
pinMode(pin4, OUTPUT);
pinMode(pw1, OUTPUT);
pinMode(pw2, OUTPUT);
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin4, LOW);
analogWrite(pw1, 0);
analogWrite(pw2, 0);

}

void loop() {

if (Serial.available() >= 2 )
{
unsigned int a = Serial.read();
unsigned int b = Serial.read();
unsigned int val = (b * 256) + a;

if (val == 1) //forward
{
digitalWrite(pin1, LOW);
digitalWrite(pin2, HIGH);
digitalWrite(pin3, LOW);
digitalWrite(pin4, HIGH);
analogWrite(pw1,255);
analogWrite(pw2,255);
}


else if (val == 2) //reverse
{
digitalWrite(pin1, HIGH);
digitalWrite(pin2, LOW);
digitalWrite(pin3, HIGH);
digitalWrite(pin4, LOW);
analogWrite(pw1,255);
analogWrite(pw2,255);
}


else if (val == 3) //stop
{
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin4, LOW);
analogWrite(pw1,0);
analogWrite(pw2,0);
}

else if (val == 5) //right
{
digitalWrite(pin1, LOW);
digitalWrite(pin2, HIGH);
digitalWrite(pin3, HIGH);
digitalWrite(pin4, LOW);
analogWrite(pw1,125);
analogWrite(pw2,125);
}


else if (val == 4) //lefl
{
digitalWrite(pin1, HIGH);
digitalWrite(pin2, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin4, HIGH);
analogWrite(pw1,125);
analogWrite(pw2,125);
}


}
}